Dynamic Modeling and Performance Evaluation of a New Five-DOF Hybrid Robot

A dynamic modeling and performance evaluation method for a new five-DOF hybrid robot is studied. The main mechanism of the hybrid robot is a 1T2R three-degree-of-freedom parallel mechanism, which is composed of a 1T1R（T:translation, R:rotation）planar parallel kinematic chain connected in series with a revolute joint and two spatially unconstrained actuated limbs. The inverse displacement, velocity, acceleration and dynamic models of the robot are established, and the correctness of the dynamic model is verified through Solidworks motion. Then, considering the influence of the acceleration and deceleration motion of the end-wrist on the actuated force of the actuated joint of the parallel mechanism and the difference between the tangential and normal motion of such mechanisms, tangential and normal evaluation index for the acceleration and deceleration characteristics of the parallel mechanism are proposed based on the matrix singular value theory, then the influence of key parameters on them are revealed, whi